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This commit is contained in:
Diego Freitas 2024-12-17 21:33:44 -03:00
parent cd496d1253
commit 8c78870898
42 changed files with 441 additions and 102 deletions
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AgroBase/.vs/AgroBase/FileContentIndex/63869697-0e9f-443f-a160-1cb6fcbd350e.vsidx Normal file
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AgroBase/.vs/AgroBase/v17/.suo
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AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.Designer.cs generated
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@ -83,6 +83,13 @@
this.lblAproximando = new System.Windows.Forms.Label();
this.lblDistProx = new System.Windows.Forms.Label();
this.lblDistAnt = new System.Windows.Forms.Label();
this.btnReiniciar = new System.Windows.Forms.Button();
this.lblKp = new System.Windows.Forms.Label();
this.txtKp = new System.Windows.Forms.TextBox();
this.lblKi = new System.Windows.Forms.Label();
this.txtKi = new System.Windows.Forms.TextBox();
this.lblKd = new System.Windows.Forms.Label();
this.txtKd = new System.Windows.Forms.TextBox();
this.pnlOpcoes.SuspendLayout();
this.gpbSonar.SuspendLayout();
this.gpbGPS.SuspendLayout();
@ -92,6 +99,13 @@
//
// pnlOpcoes
//
this.pnlOpcoes.Controls.Add(this.lblKd);
this.pnlOpcoes.Controls.Add(this.txtKd);
this.pnlOpcoes.Controls.Add(this.lblKi);
this.pnlOpcoes.Controls.Add(this.txtKi);
this.pnlOpcoes.Controls.Add(this.lblKp);
this.pnlOpcoes.Controls.Add(this.txtKp);
this.pnlOpcoes.Controls.Add(this.btnReiniciar);
this.pnlOpcoes.Controls.Add(this.lblQtdErro);
this.pnlOpcoes.Controls.Add(this.chbAutomatico);
this.pnlOpcoes.Controls.Add(this.txtQtdErro);
@ -724,6 +738,77 @@
this.lblDistAnt.TabIndex = 24;
this.lblDistAnt.Text = "Distância Ponto Anterior: 0,00 m";
//
// btnReiniciar
//
this.btnReiniciar.Location = new System.Drawing.Point(1231, 16);
this.btnReiniciar.Margin = new System.Windows.Forms.Padding(2);
this.btnReiniciar.Name = "btnReiniciar";
this.btnReiniciar.Size = new System.Drawing.Size(121, 20);
this.btnReiniciar.TabIndex = 31;
this.btnReiniciar.Text = "Reiniciar Simulação";
this.btnReiniciar.UseVisualStyleBackColor = true;
this.btnReiniciar.Click += new System.EventHandler(this.btnReiniciar_Click);
//
// lblKp
//
this.lblKp.AutoSize = true;
this.lblKp.Location = new System.Drawing.Point(1031, 56);
this.lblKp.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblKp.Name = "lblKp";
this.lblKp.Size = new System.Drawing.Size(20, 13);
this.lblKp.TabIndex = 33;
this.lblKp.Text = "Kp";
//
// txtKp
//
this.txtKp.Location = new System.Drawing.Point(1033, 71);
this.txtKp.Margin = new System.Windows.Forms.Padding(2);
this.txtKp.Name = "txtKp";
this.txtKp.Size = new System.Drawing.Size(54, 20);
this.txtKp.TabIndex = 32;
this.txtKp.Text = "1";
this.txtKp.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblKi
//
this.lblKi.AutoSize = true;
this.lblKi.Location = new System.Drawing.Point(1089, 56);
this.lblKi.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblKi.Name = "lblKi";
this.lblKi.Size = new System.Drawing.Size(16, 13);
this.lblKi.TabIndex = 35;
this.lblKi.Text = "Ki";
//
// txtKi
//
this.txtKi.Location = new System.Drawing.Point(1091, 71);
this.txtKi.Margin = new System.Windows.Forms.Padding(2);
this.txtKi.Name = "txtKi";
this.txtKi.Size = new System.Drawing.Size(54, 20);
this.txtKi.TabIndex = 34;
this.txtKi.Text = "1";
this.txtKi.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// lblKd
//
this.lblKd.AutoSize = true;
this.lblKd.Location = new System.Drawing.Point(1147, 57);
this.lblKd.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblKd.Name = "lblKd";
this.lblKd.Size = new System.Drawing.Size(20, 13);
this.lblKd.TabIndex = 37;
this.lblKd.Text = "Kd";
//
// txtKd
//
this.txtKd.Location = new System.Drawing.Point(1149, 72);
this.txtKd.Margin = new System.Windows.Forms.Padding(2);
this.txtKd.Name = "txtKd";
this.txtKd.Size = new System.Drawing.Size(54, 20);
this.txtKd.TabIndex = 36;
this.txtKd.Text = "1";
this.txtKd.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
//
// frmSimulacaoMapaGPS
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@ -820,5 +905,12 @@
private System.Windows.Forms.CheckBox chbAutomatico;
private System.Windows.Forms.Label lblQtdErro;
private System.Windows.Forms.TextBox txtQtdErro;
private System.Windows.Forms.Button btnReiniciar;
private System.Windows.Forms.Label lblKd;
private System.Windows.Forms.TextBox txtKd;
private System.Windows.Forms.Label lblKi;
private System.Windows.Forms.TextBox txtKi;
private System.Windows.Forms.Label lblKp;
private System.Windows.Forms.TextBox txtKp;
}
}

102
AgroBase/AgroBase/Forms/frmSimulacaoMapaGPS.cs
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@ -19,6 +19,11 @@ namespace AgroBase.Forms
bool calc = false;
bool parar = false;
DateTime UltimaAtualizacao = DateTime.MinValue;
int tempoGps = 1000;
DateTime UltimaAtualizacaoGps = DateTime.MinValue;
double ultimaLat = 0;
double ultimaLon = 0;
double ultimoAnguloGps = 0;
Queue<double> historicoAngulosControle = new Queue<double>();
Queue<double> historicoAngulosCarro = new Queue<double>();
@ -38,7 +43,7 @@ namespace AgroBase.Forms
private void frmSimulacaoMapaGPS_Load(object sender, EventArgs e)
{
tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 1000, this);
tmrLeitura = new AsyncTaskTimerModel("tmrLeitura", tmrLeitura_Tick, 500, this);
tmrLeitura.Start();
Variaveis.OperacaoEmAndamento.Mapa = new MapasModel()
@ -47,6 +52,10 @@ namespace AgroBase.Forms
};
//Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal = new SonarModel(picSonar);
KinectService.InicializarKinect(null, picSonar, null, null);
txtKd.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kd.ToString();
txtKi.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Ki.ToString();
txtKp.Text = Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kp.ToString();
}
private void frmSimulacaoMapaGPS_FormClosing(object sender, FormClosingEventArgs e)
@ -152,25 +161,48 @@ namespace AgroBase.Forms
};
}
ultimaLat = GPSService.UltimaLeitura.Latitude;
ultimaLon = GPSService.UltimaLeitura.Longitude;
GPSService.AtualizarCoordenadasGPS();
}
private void btnAcrescentarGPS_Click(object sender, EventArgs e)
{
bool atualizarCoordenadas = UltimaAtualizacaoGps.AddMilliseconds(tempoGps) < DateTime.Now;
double angulo = Variaveis.OperacaoEmAndamento.Mapa.AnguloCaminho;
if (txtAnguloGPS.Text != "")
{
angulo = double.Parse(txtAnguloGPS.Text);
angulo = atualizarCoordenadas ? double.Parse(txtAnguloGPS.Text) : ultimoAnguloGps;
}
if (StatusCarro == StatusCarroMapa.Manobrando && false)
if (Variaveis.OperacaoEmAndamento.Controle.TipoMovimento == TipoMovimentoDirecional.MovimentoArco)
{
angulo += double.Parse(txtAnguloControle.Text);
}
double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros
double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
txtVelocidade.Text = velocidade.ToString("0.00");
TimeSpan tempoPassado = !chbAutomatico.Checked || UltimaAtualizacao == DateTime.MinValue ? new TimeSpan(5000000) : DateTime.Now - UltimaAtualizacao;
// Calcula a distância com base no tempo passado (em segundos)
double distancia = velocidadeMs * tempoPassado.TotalSeconds;
if (distancia == 0 && double.Parse(txtDistanciaGPS.Text) > 0)
{
distancia = double.Parse(txtDistanciaGPS.Text);
}
else
{
txtDistanciaGPS.Text = distancia.ToString("0.00");
}
//double distancia = double.Parse(txtDistanciaGPS.Text); // Distância em metros
//angulo -= 180; // Ângulo em graus
double latitude = GPSService.UltimaLeitura.Latitude;
double longitude = GPSService.UltimaLeitura.Longitude;
double latitude = ultimaLat;
double longitude = ultimaLon;
// Conversão de ângulo de graus para radianos
double anguloRad = angulo * (Math.PI / 180);
@ -181,20 +213,38 @@ namespace AgroBase.Forms
// Calcular deslocamento de latitude em radianos
double deltaLat = distancia * Math.Cos(anguloRad) / raioTerra;
// Converter de radianos para graus
double latAtt = latitude + deltaLat * (180 / Math.PI);
double _latAtt = latitude + deltaLat * (180 / Math.PI);
// Calcular deslocamento de longitude em radianos
double deltaLong = distancia * Math.Sin(anguloRad) / (raioTerra * Math.Cos(latitude * (Math.PI / 180)));
// Converter de radianos para graus
double longAtt = longitude + deltaLong * (180 / Math.PI);
double _longAtt = longitude + deltaLong * (180 / Math.PI);
// Atualizar os TextBoxes com as novas coordenadas
txtLatitude.Text = latAtt.ToString();
txtLongitude.Text = longAtt.ToString();
if (atualizarCoordenadas)
{
if (double.IsNaN(_latAtt) || double.IsNaN(_longAtt))
{
AtualizarPosicaoGPS();
}
// Atualizar os TextBoxes com as novas coordenadas
txtLatitude.Text = _latAtt.ToString();
txtLongitude.Text = _longAtt.ToString();
UltimaAtualizacaoGps = DateTime.Now;
ultimoAnguloGps = angulo;
AtualizarPosicaoGPS();
calc = true;
}
else
{
ultimaLat = _latAtt;
ultimaLon = _longAtt;
}
calc = true;
AtualizarDadosTela();
calc = false;
}
@ -322,6 +372,10 @@ namespace AgroBase.Forms
private void btnCalcularAngulo_Click(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kd = double.Parse(txtKd.Text);
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Ki = double.Parse(txtKi.Text);
Variaveis.OperacaoEmAndamento.Controle.PIDdirecional.Kp = double.Parse(txtKp.Text);
Variaveis.OperacaoEmAndamento.OpMapaGPS.CalculaDadosMovimentacaoAutonoma();
int errosConsiderar = int.Parse(txtQtdErro.Text);
@ -337,6 +391,11 @@ namespace AgroBase.Forms
historicoAngulosCarro.Enqueue(novoAngulo);
double anguloCarro = historicoAngulosCarro.Peek(); // Valor de 5 ciclos atrás
if (double.IsNaN(anguloCarro))
{
}
txtAnguloGPS.Text = anguloCarro.ToString("0.00");
}
@ -349,14 +408,6 @@ namespace AgroBase.Forms
txtAnguloControle.Text = anguloAtrasado.ToString("0.00");
double velocidade = FuncoesMatematicas.CalculaVelocidadeRPM(Variaveis.OperacaoEmAndamento.Controle.RPM_SP);
double velocidadeMs = FuncoesMatematicas.ConverteKmhParaMs(velocidade);
txtVelocidade.Text = velocidade.ToString("0.00");
TimeSpan tempoPassado = !chbAutomatico.Checked || UltimaAtualizacao == DateTime.MinValue ? new TimeSpan(10000000) : DateTime.Now - UltimaAtualizacao;
// Calcula a distância com base no tempo passado (em segundos)
double distancia = velocidadeMs * tempoPassado.TotalSeconds;
txtDistanciaGPS.Text = distancia.ToString("0.00");
UltimaAtualizacao = DateTime.Now;
pnlOrientacaoTrajeto.Invalidate();
@ -375,5 +426,14 @@ namespace AgroBase.Forms
UltimaAtualizacao = DateTime.Now.AddSeconds(-1);
}
}
private void btnReiniciar_Click(object sender, EventArgs e)
{
Variaveis.OperacaoEmAndamento.ReiniciarSimulacao();
frmSimulacaoMapaGPS frm = new frmSimulacaoMapaGPS();
frm.Show();
this.Close();
}
}
}

2
AgroBase/AgroBase/Models/MapasModel.cs
View File

@ -1014,7 +1014,7 @@ namespace AgroBase.Models
{
if (sonar.DirecaoDesvio == Direcao.Parado || Variaveis.OperacaoEmAndamento.OpMapaGPS.StatusDentroRua.Contains(statusCarro))
{
TrajetoriaDinamica.Clear();
//TrajetoriaDinamica.Clear();
}
else
{

9
AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
View File

@ -334,12 +334,10 @@ namespace AgroBase.Models.Modules
MKS057DService.AdicionarComandoNaFila(MKS057DService.MontarComandoRequisicaoIO(modAddr));
}
bool enviarComando = (!Modulo.DirMotor.Comandar && Modulo.DirMotor.Angulo != 0) || (!Modulo.DirMotor.AtingiuAnguloSP);
// Verifica se o angulo de set point do motor em questao e diferente do angulo atual, e se for, reenvia o comando para garantir que o motor esteja coerente com o set point
if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(2000) < DateTime.Now) && enviarComando)
if (!MKS057DService.Referenciando && (Modulo.DirMotor.UltimoComandoEnviado.AddMilliseconds(2000) < DateTime.Now) && !Modulo.DirMotor.AtingiuAnguloSP)
{
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao, enviarComando);
Modulo.DirMotor.EnviarComandoControle(Controle.UltimaDirecao, !Modulo.DirMotor.Comandar);
}
}
}
@ -1061,7 +1059,8 @@ namespace AgroBase.Models.Modules
{
get
{
return FuncoesMatematicas.ValorEstaEntre(Angulo, Angulo_SP, 1);
double anguloSp = Comandar ? Angulo_SP : 0;
return FuncoesMatematicas.ValorEstaEntre(Angulo, anguloSp, 1);
}
}

18
AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
View File

@ -844,9 +844,9 @@ namespace AgroBase.Models
{
LimiteSaida = Controle.Angulo_Max,
SetPoint = 0,
Kp = 0.7,
Ki = 0.05,
Kd = 0.1
Kp = 1.5, // 0.7
Ki = 0.08, // 0.5
Kd = 0.03 // 0.1
};
if (controle != null)
{
@ -976,9 +976,9 @@ namespace AgroBase.Models
{
LimiteSaida = Controle.Angulo_Max,
SetPoint = 0,
Kp = 0.7,
Ki = 0.05,
Kd = 0.1
Kp = 1.5,
Ki = 0.08,
Kd = 0.03
};
}
@ -988,6 +988,12 @@ namespace AgroBase.Models
Mapa.GerarTrajetoriaDinamica();
}
public void ReiniciarSimulacao()
{
Variaveis.OperacaoEmAndamento._EtapaAtual = StatusOperacao.Parametrizando;
Variaveis.OperacaoEmAndamento.Iniciado = false;
}
#endregion

8
AgroBase/AgroBase/Models/UltrasonicA05Model.cs
View File

@ -134,7 +134,13 @@ namespace AgroBase.Models
var Config = Variaveis.OperacaoEmAndamento.DispSen?.Dados?.ConfiguracaoSensorUltrassom;
if (!UltrasonicA05Service.Iniciado || Config == null || Config.Configuracao == ConfiguracaoSensorUltrassonico.NaoUtilizado || Config.Sensores.All(x => x.Posicao == PosicaoSensorUltrassonico.NaoConectado))
if (
!UltrasonicA05Service.Iniciado || // ultrassom nao iniciado
Config == null || // configuracao nao definida
Config.Configuracao == ConfiguracaoSensorUltrassonico.NaoUtilizado || // configuracao para nao utilizar
Config.Sensores.All(x => x.Posicao == PosicaoSensorUltrassonico.NaoConectado) || // configuracao com todos os sensores desconectados
Config.Sensores.All(x => !x.Parada && !x.Desvio) // configuracao onde os sensores nao tem acao
)
{
return 0.0;
}

2
AgroBase/AgroBase/Services/KinectService.cs
View File

@ -625,7 +625,7 @@ namespace AgroBase.Services
public static Bitmap ExibirObstaculos(Bitmap bitmap, List<Subdivisao> subdivisoes, List<Obstaculo> obstaculos, bool ExibirTexto = false)
{
if (bitmap == null)
if (bitmap == null || !Variaveis.OperacaoEmAndamento.Controle.SonarAtivado)
{
return bitmap;
}

9
AgroBase/AgroBase/Services/MapasService.cs
View File

@ -30,6 +30,7 @@ namespace AgroBase.Services
public string ArquivoSaida = "";
public string MapaUrl = "";
public string CaminhoDadosMapa = "";
public string CaminhoArquivo = "";
public MapaFeatureCollectionModel DadosMapa;
public bool Carregado = false;
@ -48,10 +49,10 @@ namespace AgroBase.Services
if (!string.IsNullOrEmpty(caminhoArquivo) || opfMapa.ShowDialog() == DialogResult.OK)
{
caminhoArquivo = string.IsNullOrEmpty(caminhoArquivo) ? opfMapa.FileName : caminhoArquivo;
string extensao = "." + caminhoArquivo.Split('.')[caminhoArquivo.Split('.').Length - 1];
NomeArquivos = caminhoArquivo.Split('\\')[caminhoArquivo.Split('\\').Length - 1].Replace(extensao, "");
CaminhoMapa = caminhoArquivo.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/");
CaminhoArquivo = string.IsNullOrEmpty(caminhoArquivo) ? opfMapa.FileName : caminhoArquivo;
string extensao = "." + CaminhoArquivo.Split('.')[CaminhoArquivo.Split('.').Length - 1];
NomeArquivos = CaminhoArquivo.Split('\\')[CaminhoArquivo.Split('\\').Length - 1].Replace(extensao, "");
CaminhoMapa = CaminhoArquivo.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/");
pythonProcess = PythonService.RunScript(script, new string[]
{

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48
AgroBase/AgroBase/bin/Debug/Python/Output/GeoJson.json
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@ -1 +1,47 @@
{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"Projeto","Length":21.332976190943135,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":"0","type":"LineString","coordinates":[[-47.381495333333334,-22.213068166666666],[-47.381469166666669,-22.213091333333335],[-47.38141825,-22.213137833333334],[-47.3813925,-22.213161666666668],[-47.381369666666664,-22.2131845]]}},{"type":"Feature","properties":{"Id":"2","Name":"Projeto","Length":24.045328359726675,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":"1","type":"LineString","coordinates":[[-47.381340166666668,-22.213175666666668],[-47.381375333333331,-22.213137166666666],[-47.38140933333333,-22.213102666666668],[-47.381453666666665,-22.213058166666666],[-47.381496666666663,-22.213015666666667]]}}]}
{
"type": "FeatureCollection",
"features": [
{
"type": "Feature",
"properties": {
"Id": "1",
"Name": "Projeto",
"Length": 21.332976190943135,
"Dist1": 0.0,
"Dist2": 0.0
},
"geometry": {
"id": null,
"type": "LineString",
"coordinates": [
[-47.381495333333334, -22.213068166666666],
[-47.38146916666667, -22.213091333333335],
[-47.38141825, -22.213137833333333],
[-47.3813925, -22.213161666666668],
[-47.381369666666664, -22.2131845]
]
}
},
{
"type": "Feature",
"properties": {
"Id": "2",
"Name": "Projeto",
"Length": 24.045328359726675,
"Dist1": 0.0,
"Dist2": 0.0
},
"geometry": {
"id": null,
"type": "LineString",
"coordinates": [
[-47.381340166666668, -22.213175666666668],
[-47.381375333333331, -22.213137166666666],
[-47.38140933333333, -22.213102666666668],
[-47.381453666666665, -22.213058166666666],
[-47.381496666666663, -22.213015666666667]
]
}
}
]
}

43
AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
View File

@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_37ad66d71d482fc31ae08a85e4088891 {
#map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_37ad66d71d482fc31ae08a85e4088891" ></div>
<div class="folium-map" id="map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1" ></div>
</body>
<script>
var map_37ad66d71d482fc31ae08a85e4088891 = L.map(
"map_37ad66d71d482fc31ae08a85e4088891",
var map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1 = L.map(
"map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1",
{
center: [-22.213100083333334, -47.38141841666666],
crs: L.CRS.EPSG3857,
@ -60,6 +60,15 @@
var tile_layer_b1319f46ace58751b7062db8f25f20b3 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_b1319f46ace58751b7062db8f25f20b3.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
var trajetosSelecionados = {};
@ -73,7 +82,7 @@
}*/
});
}
function geo_json_c203a1c7026145208bab4067dd42aa10_onEachFeature(feature, layer) {
function geo_json_cfc16ab3eb25dd8ad7693622d16294d9_onEachFeature(feature, layer) {
layer.on({
click: function(e) {
@ -109,20 +118,20 @@
}*/
});
};
var geo_json_c203a1c7026145208bab4067dd42aa10 = L.geoJson(null, {
onEachFeature: geo_json_c203a1c7026145208bab4067dd42aa10_onEachFeature,
var geo_json_cfc16ab3eb25dd8ad7693622d16294d9 = L.geoJson(null, {
onEachFeature: geo_json_cfc16ab3eb25dd8ad7693622d16294d9_onEachFeature,
});
function geo_json_c203a1c7026145208bab4067dd42aa10_add (data) {
geo_json_c203a1c7026145208bab4067dd42aa10
function geo_json_cfc16ab3eb25dd8ad7693622d16294d9_add (data) {
geo_json_cfc16ab3eb25dd8ad7693622d16294d9
.addData(data);
}
geo_json_c203a1c7026145208bab4067dd42aa10_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_cfc16ab3eb25dd8ad7693622d16294d9_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_c203a1c7026145208bab4067dd42aa10.addTo(map_37ad66d71d482fc31ae08a85e4088891);
geo_json_cfc16ab3eb25dd8ad7693622d16294d9.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
</script>
@ -143,7 +152,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_37ad66d71d482fc31ae08a85e4088891);
trajeto_json.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -201,7 +210,7 @@
}
trajeto_dinamico_json_add({"features": []});
trajeto_dinamico_json.addTo(map_37ad66d71d482fc31ae08a85e4088891);
trajeto_dinamico_json.addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
function adicionarGeometriaDinamica(novaGeometria) {
trajeto_dinamico_json.addData(novaGeometria);
@ -254,9 +263,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_37ad66d71d482fc31ae08a85e4088891);
}).addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
var marcadorBase = L.marker([0, 0], {}).addTo(map_37ad66d71d482fc31ae08a85e4088891);
var marcadorBase = L.marker([0, 0], {}).addTo(map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -338,7 +347,7 @@
}
if (foco) {
map_37ad66d71d482fc31ae08a85e4088891.setView(novaPosicao, map_37ad66d71d482fc31ae08a85e4088891.getZoom());
map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1.setView(novaPosicao, map_7ac81ec61e6e9fdf3f2a0f6fe49b98f1.getZoom());
}
}
@ -355,7 +364,7 @@
function atualizarSelecaoRuas(selecionadas) {
selecionadas = JSON.parse(selecionadas);
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
geo_json_c203a1c7026145208bab4067dd42aa10.eachLayer(function (layer) {
geo_json_cfc16ab3eb25dd8ad7693622d16294d9.eachLayer(function (layer) {
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
layer.setStyle({ color: 'blue' });
} else {

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AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
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@ -480,4 +480,4 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\MathNet.Numerics.xml
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\bin\Debug\OpenHardwareMonitorLib.dll
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmA05Config.resources
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.Forms.frmEthernet.resources
C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CopyComplete
C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date

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AgroBase/AgroMonitor/bin/Debug/Python/Output/GeoJson.json
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@ -1 +1,47 @@
{"type":"FeatureCollection","features":[{"type":"Feature","properties":{"Id":"1","Name":"Projeto","Length":21.332976190943135,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":"0","type":"LineString","coordinates":[[-47.381495333333334,-22.213068166666666],[-47.381469166666669,-22.213091333333335],[-47.38141825,-22.213137833333334],[-47.3813925,-22.213161666666668],[-47.381369666666664,-22.2131845]]}},{"type":"Feature","properties":{"Id":"2","Name":"Projeto","Length":24.045328359726675,"Dist1":0.0,"Dist2":0.0},"geometry":{"id":"1","type":"LineString","coordinates":[[-47.381340166666668,-22.213175666666668],[-47.381375333333331,-22.213137166666666],[-47.38140933333333,-22.213102666666668],[-47.381453666666665,-22.213058166666666],[-47.381496666666663,-22.213015666666667]]}}]}
{
"type": "FeatureCollection",
"features": [
{
"type": "Feature",
"properties": {
"Id": "1",
"Name": "Projeto",
"Length": 21.332976190943135,
"Dist1": 0.0,
"Dist2": 0.0
},
"geometry": {
"id": null,
"type": "LineString",
"coordinates": [
[-47.381495333333334, -22.213068166666666],
[-47.38146916666667, -22.213091333333335],
[-47.38141825, -22.213137833333333],
[-47.3813925, -22.213161666666668],
[-47.381369666666664, -22.2131845]
]
}
},
{
"type": "Feature",
"properties": {
"Id": "2",
"Name": "Projeto",
"Length": 24.045328359726675,
"Dist1": 0.0,
"Dist2": 0.0
},
"geometry": {
"id": null,
"type": "LineString",
"coordinates": [
[-47.381340166666668, -22.213175666666668],
[-47.381375333333331, -22.213137166666666],
[-47.38140933333333, -22.213102666666668],
[-47.381453666666665, -22.213058166666666],
[-47.381496666666663, -22.213015666666667]
]
}
}
]
}

38
AgroBase/AgroMonitor/bin/Debug/Python/Output/mapa_interativo.html
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@ -25,7 +25,7 @@
<meta name="viewport" content="width=device-width,
initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>
#map_db1225b1e62d9bab1ce65e5a1b0337da {
#map_0fff78eb96d18efec1cee81d04739815 {
position: relative;
width: 100.0%;
height: 100.0%;
@ -39,14 +39,14 @@
<body>
<div class="folium-map" id="map_db1225b1e62d9bab1ce65e5a1b0337da" ></div>
<div class="folium-map" id="map_0fff78eb96d18efec1cee81d04739815" ></div>
</body>
<script>
var map_db1225b1e62d9bab1ce65e5a1b0337da = L.map(
"map_db1225b1e62d9bab1ce65e5a1b0337da",
var map_0fff78eb96d18efec1cee81d04739815 = L.map(
"map_0fff78eb96d18efec1cee81d04739815",
{
center: [-22.213100083333334, -47.38141841666666],
crs: L.CRS.EPSG3857,
@ -60,13 +60,13 @@
var tile_layer_780db0f51e5cd4e2609b0632b0bfa588 = L.tileLayer(
var tile_layer_34bda382118d1e677c622cff3c40dd70 = L.tileLayer(
"https://tile.openstreetmap.org/{z}/{x}/{y}.png",
{"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
);
tile_layer_780db0f51e5cd4e2609b0632b0bfa588.addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
tile_layer_34bda382118d1e677c622cff3c40dd70.addTo(map_0fff78eb96d18efec1cee81d04739815);
@ -82,7 +82,7 @@
}*/
});
}
function geo_json_c919ee5e792846159b7b6a14116f9dcb_onEachFeature(feature, layer) {
function geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc_onEachFeature(feature, layer) {
layer.on({
click: function(e) {
@ -118,20 +118,20 @@
}*/
});
};
var geo_json_c919ee5e792846159b7b6a14116f9dcb = L.geoJson(null, {
onEachFeature: geo_json_c919ee5e792846159b7b6a14116f9dcb_onEachFeature,
var geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc = L.geoJson(null, {
onEachFeature: geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc_onEachFeature,
});
function geo_json_c919ee5e792846159b7b6a14116f9dcb_add (data) {
geo_json_c919ee5e792846159b7b6a14116f9dcb
function geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc_add (data) {
geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc
.addData(data);
}
geo_json_c919ee5e792846159b7b6a14116f9dcb_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": "0", "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": "1", "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc_add({"features": [{"geometry": {"coordinates": [[-47.38149533333333, -22.213068166666666], [-47.38146916666667, -22.213091333333335], [-47.38141825, -22.213137833333334], [-47.3813925, -22.213161666666668], [-47.381369666666664, -22.2131845]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1", "Length": 21.332976190943135, "Name": "Projeto"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.38134016666667, -22.213175666666668], [-47.38137533333333, -22.213137166666666], [-47.38140933333333, -22.213102666666668], [-47.381453666666665, -22.213058166666666], [-47.38149666666666, -22.213015666666667]], "id": null, "type": "LineString"}, "id": 1, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "2", "Length": 24.045328359726675, "Name": "Projeto"}, "type": "Feature"}], "type": "FeatureCollection"});
geo_json_c919ee5e792846159b7b6a14116f9dcb.addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc.addTo(map_0fff78eb96d18efec1cee81d04739815);
</script>
@ -152,7 +152,7 @@
}
trajeto_json_add({"features": []});
trajeto_json.addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
trajeto_json.addTo(map_0fff78eb96d18efec1cee81d04739815);
function adicionarGeometria(novaGeometria) {
trajeto_json.addData(novaGeometria);
@ -210,7 +210,7 @@
}
trajeto_dinamico_json_add({"features": []});
trajeto_dinamico_json.addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
trajeto_dinamico_json.addTo(map_0fff78eb96d18efec1cee81d04739815);
function adicionarGeometriaDinamica(novaGeometria) {
trajeto_dinamico_json.addData(novaGeometria);
@ -263,9 +263,9 @@
var marcadorEquipamento = L.marker([0, 0], {
icon: customIcon
}).addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
}).addTo(map_0fff78eb96d18efec1cee81d04739815);
var marcadorBase = L.marker([0, 0], {}).addTo(map_db1225b1e62d9bab1ce65e5a1b0337da);
var marcadorBase = L.marker([0, 0], {}).addTo(map_0fff78eb96d18efec1cee81d04739815);
var icon = L.AwesomeMarkers.icon(
{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
);
@ -347,7 +347,7 @@
}
if (foco) {
map_db1225b1e62d9bab1ce65e5a1b0337da.setView(novaPosicao, map_db1225b1e62d9bab1ce65e5a1b0337da.getZoom());
map_0fff78eb96d18efec1cee81d04739815.setView(novaPosicao, map_0fff78eb96d18efec1cee81d04739815.getZoom());
}
}
@ -364,7 +364,7 @@
function atualizarSelecaoRuas(selecionadas) {
selecionadas = JSON.parse(selecionadas);
RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
geo_json_c919ee5e792846159b7b6a14116f9dcb.eachLayer(function (layer) {
geo_json_f1da1bfaa69b1a5885ba8a223c93d9bc.eachLayer(function (layer) {
if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
layer.setStyle({ color: 'blue' });
} else {

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